为了实现偏振光传感器在水面波动环境下及编队协同情境下的应用, 并提升无人船导航的抗电磁干扰能力, 设计了一种基于偏振光传感器、微惯性测量单元(MIMU)及全球定位系统(GPS)的组合导航系统, 为偏振光传感器集成了云台底座, 并搭建偏振光无人船平台进行了导航及编队实验。介绍了偏振光导航原理及无人船编队原理; 基于卡尔曼滤波设计了偏振光传感器/MIMU/GPS组合导航算法; 基于上述组合导航算法进行了无人船的循迹与编队实验。循迹对比实验结果表明: 无人船利用偏振光传感器进行组合导航的航向角误差为6.055°, 位置误差为0.209 m, 在磁罗盘受干扰的情况下偏振光组合导航系统仍可正常工作; 编队实验结果表明: 领航船循迹误差为0.425 m,跟随船编队误差为0.707 m。该偏振光传感器可应用于水面环境导航, 偏振光组合导航系统可用于无人船导航与编队。

It is necessary to improve the anti-electromagnetic interference ability of unmanned surface vehicle(USV) navigation; one method is to apply polarization sensors in fluctuant water environments and formation coordination.In this study, an integrated navigation system was designed based on a polarization sensor, micro inertial measurement unit (MIMU), and global positioning system (GPS). A gimbal was mounted for the polarization sensor, and a USV experimental platform was built for navigation and formation experiments. First, the principle of polarized light navigation and USV formation were introduced.Subsequently, the integrated navigation system with a polarization sensor was designed based on Kalman filtering. Finally, tracking and formation of USV experiments were performed based on the integrated navigation system. The results of the tracking experiment show that the heading angle error and position error of the polarization sensor/MIMU/GPS integrated navigation system are 6.055° and 0.209 m, respectively.The polarized light integrated navigation system could work normally even if the magnetic compass was disturbed. The results of the formation experiment show that the leader tracking error is 0.425 m, and the follower formation error is 0.707 m. The polarization sensor can be used in fluctuant water circumstance navigation, and the polarized light integrated navigation system can be used in USV navigation and formation.